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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,531 records · Page 85
All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

Badger, Julia M.↗
DOE OSTI2025

Evaluating the Impact of Managed EV Charging for Reliable Operation of Bulk Power Systems with High Non-Dispatchable Generation

The growth of electric vehicles (EVs) and variable-generation (VG) sources introduces new challenges for power-system operations. This study introduces a modeling framework and evaluates five EV charging strategies under projected 2040 grid conditions in the Evergy service territory with high non-dispatchable generation. Using realistic EV behavior and generation models, their impacts on system peak demand, ramp rate, and reserve capacity are evaluated. Results show that only the peak-avoidance strategy effectively reduces system peak demand, while decentralized strategies-particularly cost based dynamic charging-can exacerbate peaks due to synchronized user behavior. However, ramp-rate minimization strategy significantly reduce the stress on dispatchable generation achieving the lowest maximum absolute ramp rate (MARR) (56.81 MW) and lowest reserve requirement (2.39 GW). In contrast, unmanaged and TOU random strategies increase the stress on dispatchable generation sources with increased MARR and reserve requirements. These findings highlight the importance of coordinated, system-aware managed charging strategies to ensure reliable and affordable grid operation in the presence of EVs and VG sources.

14 - SOLAR ENERGY↗
DOE OSTI2024

Voltage Optimization

Voltage optimization refers to a volt-var optimization technique which was originally designed to minimize energy consumption and improve end-use efficiency on the distribution system. This reduces source voltage at a substation, which lowers generation demand, reduces system losses, and improves system stability. This has been the conventional implementation of voltage optimization: focusing on regulation of voltages throughout the distribution system via coordinated adjustments of load tap changers, line-voltage regulators, switched shunt compensation, and the targeted placement of new shunt compensation. These methods have received increased focus following a growth in distributed-energy resources (DERs) interconnecting at the distribution level, given their developing capability to participate in voltage regulation. This is paired with the intermittency challenges they pose, load imbalances, and voltage fluctuations. Voltage optimization has long been an area of extensive research within the distribution system, with various strategies and philosophies demonstrating a range of effects. The conventional focus on the distribution system owes to the typical operation of transmission systems, which assumes firm local resources and flows strictly from generation resources to loads. The strategies employed in distribution have also been optimized for this typically radial configuration and operation of the distribution system.

24 - POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2020

Power System Event Classification and Localization Using a Convolutional Neural Network

Detection and timely identification of power system disturbances are essential for situation awareness and reliable electricity grid operation. Because records of actual events in the system are limited, ensemble simulation-based events are needed to provide adequate data for building event-detection models through deep learning; e.g., a convolutional neural network (CNN). An ensemble numerical simulation-based training data set have been generated through dynamic simulations performed on the Polish system with various types of faults in different locations. Such data augmentation is proven to be able to provide adequate data for deep learning. The synchronous generators’ frequency signals are used and encoded into images for developing and evaluating CNN models for classification of fault types and locations. With a time-domain stacked image set as the benchmark, two different time-series encoding approaches, i.e., wavelet decomposition-based frequency-domain stacking and polar coordinate system-based Gramian Angular Field (GAF) stacking, are also adopted to evaluate and compare the CNN model performance and applicability. The various encoding approaches are suitable for different fault types and spatial zonation. With optimized settings of the developed CNN models, the classification and localization accuracies can go beyond 84 and 91%, respectively.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS1994

A performance analysis method for distributed real-time robotic systems: A case study of remote teleoperation

Robot coordination and control systems for remote teleoperation applications are by necessity implemented on distributed computers. Modeling and performance analysis of these distributed robotic systems is difficult, but important for economic system design. Performance analysis methods originally developed for conventional distributed computer systems are often unsatisfactory for evaluating real-time systems. The paper introduces a formal model of distributed robotic control systems; and a performance analysis method, based on scheduling theory, which can handle concurrent hard-real-time response specifications. Use of the method is illustrated by a case of remote teleoperation which assesses the effect of communication delays and the allocation of robot control functions on control system hardware requirements.

Lefebvre, D. R.↗
NASA NTRS1997

An Algorithm for Integrated Subsystem Embodiment and System Synthesis

Consider the statement,'A system has two coupled subsystems, one of which dominates the design process. Each subsystem consists of discrete and continuous variables, and is solved using sequential analysis and solution.' To address this type of statement in the design of complex systems, three steps are required, namely, the embodiment of the statement in terms of entities on a computer, the mathematical formulation of subsystem models, and the resulting solution and system synthesis. In complex system decomposition, the subsystems are not isolated, self-supporting entities. Information such as constraints, goals, and design variables may be shared between entities. But many times in engineering problems, full communication and cooperation does not exist, information is incomplete, or one subsystem may dominate the design. Additionally, these engineering problems give rise to mathematical models involving nonlinear functions of both discrete and continuous design variables. In this dissertation an algorithm is developed to handle these types of scenarios for the domain-independent integration of subsystem embodiment, coordination, and system synthesis using constructs from Decision-Based Design, Game Theory, and Multidisciplinary Design Optimization. Implementation of the concept in this dissertation involves testing of the hypotheses using example problems and a motivating case study involving the design of a subsonic passenger aircraft.

Lewis, Kemper↗
NASA NTRS2004

In-Flight Assessment of a Pursuit Guidance Display Format for Manually Flown Precision Instrument Approaches

In-flight evaluations of a pursuit guidance display system for manually flown precision instrument approaches were performed. The guidance system was integrated into the RASCAL JUH-60A Black Hawk helicopter. The applicability of the pursuit guidance disp1aFs to the operation of Runway Independent Aircraft (RIA) is made evident because the displays allow the pilot to fly a complex, multi-segment, descending, decelerating approach trajectory. The complex trajectory chosen for this in-flight assessment began from a downwind abeam position at 110 knots and was hand-flown to a 50 ft decision altitude at 40 knots using a rate-command/attitude-hold plus turn-coordination control system. The elements of the pursuit guidance format displayed on a 10-inch liquid crystal display (LCD) flat panel consisted of a flightpath vector and a "leader" aircraft as the pursuit guidance element. Approach guidance was based primarily on carrier-phase differential Global Positioning System (GPS) navigation, and secondarily on both medium accuracy inertial navigation unit states and air data computer states. Required Navigation Performance (RNP) concepts were applied to the construction of display elements such as lateral/vertical deviation indicators and a tunnel that indicated to the pilot, in real-time, the performance with respect to RNP error bounds. The results of the flight evaluations of the guidance display show that precise path control for operating within tight RNP boundaries (RNP 0.007NM/24ft for initial approach, RNP 0.008NM/19ft for intermediate approach, and RNP 0.002NM/9ft for final approach) is attainable with minimal to moderate pilot workload.

Moralez, Ernesto, III↗
NASA NTRS2002

Comparison Made of Operating Characteristics of Spiral Bevel Gears Manufactured Using Different Methods

Spiral bevel gears are important components on all current rotorcraft drive systems. These components are required to operate at high speeds, high loads, and for an extremely large number of load cycles. In this application, spiral bevel gears are used to redirect the shaft from the horizontal gas turbine engine to the vertical rotor. Because of the high expense of manufacturing these gears, methods that can achieve the same level of performance at reduced cost are highly desirable to aerospace gear manufacturers. Gears manufactured for aerospace applications use high-quality materials and are manufactured to tight tolerances. Special manufacturing machine tools and computer numerically controlled coordinate measurement systems have enabled rotorcraft drive system manufacturers to produce extremely high-quality gears during their normal production. Because of low production rates for rotorcraft, these gears are manufactured in small batches, and thus are unable to benefit from the economics of high production numbers as in other industries. In this investigation, two different manufacturing methods, face-milled and face-hobbed, were used to fabricate spiral bevel gears. For face-milled spiral bevel gears, grinding of the contacting surfaces is the final manufacturing step. At least two different specialty machines are needed to generate the teeth for face-milled spiral bevel gears. For face-hobbed gears, hard cutting is the final manufacturing process. The same machine is used to rough cut and finish cut the gears. This study compared the operational behavior of face-milled spiral bevel gears with that of face-hobbed spiral bevel gears. Test hardware was manufactured to fit within NASA Glenn Research Center's Spiral Bevel Test Facility and to aerospace quality standards. Tests were conducted for stress, vibration, and noise. A comparison of the results attained indicated that the face-hobbed gears had a lower alternating stress level with a more even distribution of loading across the teeth, and slightly reduced levels of vibration and noise. Results of this study show that the face-hobbed method is a viable and lower-cost alternative for producing aerospace-quality spiral-bevel gears.

Handschuh, Robert F.↗
NASA NTRSDate not supplied

Separation Assurance in Urban Air Mobility Systems Using Shared Scheduling Protocols

Ensuring safe separation between aircraft is a critical challenge in air traffic management, particularly in urban air mobility (UAM) environments where high traffic density and low altitudes require precise control. In these environments, conflicts often arise at the intersections of flight corridors, posing significant risks. We propose a tactical separation approach leveraging shared scheduling protocols, originally designed for Ethernet networks and operating systems, to coordinate access to these intersections. Using a decentralized Markov decision process framework, the proposed approach enables aircraft to autonomously adjust their speed and timing as they navigate these critical areas, maintaining safe separation without a central controller. We evaluate the effectiveness of this approach in simulated UAM scenarios, demonstrating its ability to reduce separation violations to zero while acknowledging trade-offs in flight times as traffic density increases. Additionally, we explore the impact of non-compliant aircraft, showing that while shared scheduling protocols can no longer guarantee safe separation, they still provide significant improvements over systems without scheduling protocols.

Separation Assurance↗
NASA NTRSDate not supplied

Separation Assurance in Urban Air Mobility Systems Using Shared Scheduling Protocols

Ensuring safe separation between aircraft is a critical challenge in air traffic management, particularly in urban air mobility (UAM) environments where high traffic density and low altitudes require precise control. In these environments, conflicts often arise at the intersections of flight corridors, posing significant risks. We propose a tactical separation approach leveraging shared scheduling protocols, originally designed for Ethernet networks and operating systems, to coordinate access to these intersections. Using a decentralized Markov decision process framework, the proposed approach enables aircraft to autonomously adjust their speed and timing as they navigate these critical areas, maintaining safe separation without a central controller. We evaluate the effectiveness of this approach in simulated UAM scenarios, demonstrating its ability to reduce separation violations to zero while acknowledging trade-offs in flight times as traffic density increases. Additionally, we explore the impact of non-compliant aircraft, showing that while shared scheduling protocols can no longer guarantee safe separation, they still provide significant improvements over systems without scheduling protocols.

system safety↗
NASA NTRS2003

Information for Successful Interaction with Autonomous Systems

Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

Malin, Jane T.↗
DOE OSTI2026

DOE CESER 6 GHz Interference Study

DOE CESER has sponsored Idaho National Laboratory (INL) to conduct an objective and independent study of potential 6 GHz interference from outdoor operation of unlicensed devices in the 6 GHz band on fixed service (FS) microwave communication links operated by electrical sector incumbents in that band. INL is collaborating with University of Notre Dame (UND), Electric Power Research Institute (EPRI), Lockard & White, Southern Company, and AT&T, to gather data with real-world 6 GHz interference experiments and identify (1) the potential for interference from unlicensed devices and (2) the interference necessary to cause harm to the incumbents. In addition to the functional assessment, a security assessment of the FCC mandated Automatic Frequency Coordination (AFC) System to regulate use of unlicensed 6 GHz standard power devices is also being conducted. A major objective is to create a science-based and defensible methodology used to produce the necessary data and to derive objective conclusions. This proven methodology can then be used to produce objective data and conclusions for other spectrum bands with similar incumbent uses including 4.4 – 4.9 GHz and 7.125 – 7.4 GHz, identified in the reconciliation bill that was adopted on July 4, 2025, as well as the National Spectrum Strategy discussions that are ongoing. This report contains 6 GHz field experiments and findings in the following real-world scenarios with commercial unlicensed standard power (SP) 6 GHz devices regulated by Automated Frequency Coordination (AFC): • University of Notre Dame (UND) Stadium with a capacity of 80,000 spectators, where Wi-Fi operating in 6 GHz has been deployed recently • Southern Company 6 GHz FS microwave link between Columbus and Fortson, Georgia Following are the following key findings from this study. 1. The AFC is under-protective of FS when line-of-sight exists along the path centerline. Data collected at Southern’s 6 GHz fixed link site shows significant erosion of as much as 21.4-24.4 dB of under-protection that can lead to potential service degradation under typical operating conditions. This first key finding is most likely the result of erroneous use of the RF propagation model. INL will collaborate with EPRI and the AFC Functional Requirements Working Group to submit a change request to the WinnForum TS-1014 standard towards correct use of the propagation model by the AFC. 2. There is additive interference effect of about 3 dB from nearly equal power interferers measured from simultaneous operation of two SP AP's operating co-channel with the FS receive from different locations along the path. This second key finding should be used to add the impact of additive interference of operation of multiple APs in the same geographical area, to the next generation of AFCs. INL will collaborate with FCC on the need for the AFC to consider additive interference. We also recommend that additional experiments are conducted on 6 GHz spectrum interference to further improve the AFC operation as the number of outdoor Wi-Fi devices continues to increase. These proposed steps and recommendations will make the co-existence of the incumbents and the 6 GHz outdoor Wi-Fi providers possible without any impact on the incumbents with a win-win outcome for all.

6 GHz↗
DOE OSTI2022

Machine-learning from Pseudomonas putida KT2440 transcriptomes reveals its transcriptional regulatory network

Bacterial gene expression is orchestrated by numerous transcription factors (TFs). Elucidating how gene expression is regulated is fundamental to understanding bacterial physiology and engineering it for practical use. In this study, a machine-learning approach was applied to uncover the genome-scale transcriptional regulatory network (TRN) in Pseudomonas putida KT2440, an important organism for bioproduction. We performed independent component analysis of a compendium of 321 high-quality gene expression profiles, which were previously published or newly generated in this study. We identified 84 groups of independently modulated genes (iModulons) that explain 75.7% of the total variance in the compendium. With these iModulons, we (i) expand our understanding of the regulatory functions of 39 iModulon associated TFs (e.g., HexR, Zur) by systematic comparison with 1993 previously reported TF-gene interactions; (ii) outline transcriptional changes after the transition from the exponential growth to stationary phases; (iii) capture group of genes required for utilizing diverse carbon sources and increased stationary response with slower growth rates; (iv) unveil multiple evolutionary strategies of transcriptome reallocation to achieve fast growth rates; and (v) define an osmotic stimulon, which includes the Type VI secretion system, as coordination of multiple iModulon activity changes. Taken together, this study provides the first quantitative genome-scale TRN for P. putida KT2440 and a basis for a comprehensive understanding of its complex transcriptome changes in a variety of physiological states.

09 BIOMASS FUELS↗
DOE OSTI2022

Resilient Inverter-Driven Black Start with Collective Parallel Grid-Forming Operation: Preprint

As the modern power systems are experiencing exceptional changes with increasing penetration of inverter-based resources (IBRs), system restoration using IBRs has received attention. Using local grid-forming (GFM) assets near consumers, engineered to establish grid voltages in the absence of a stiff grid, i.e., bottom-up restoration, a distribution system would obtain high system resilience, by not relying on the bulk power system restoration requiring significant human intervention and procedure to restore. This paper studies the technical feasibility of the novel approach with detailed electromagnetic transient (EMT) simulations. To thoroughly evaluate the potential of GFM inverters and technical challenges in IBR-driven black start, a detailed three-phase inverter model is developed, including negative-sequence control for voltage balance and a phase-by-phase current limiter to sustain momentary overloading during the black start. To examine dynamic aspects of the black start process, the EMT simulation also models transformer and motor dynamics to emulate their inrush and start-up behaviors as well as network dynamics. In addition, active involvement of grid-following distributed energy resources (DER) is also studied to facilitate the black start process. It is shown that, by allowing multiple GFM inverters to collectively black start without master-slave coordination, a system can achieve high resilience even with a fraction of assets lost. Two test cases of inverter-driven black start using two and one GFM inverters, respectively, for a heavily unbalanced 2-MVA distribution feeder are demonstrated. Takeaways for further study and field deployment are provided.

grid-forming inverter↗
NASA NTRS2005

Lunar and Planetary Science XXXVI, Part 8

The following topics were discussed: Why Small is Beautiful, and How to Detect Another 10 Billion Small Main Belt Asteroids; Basalts in Mare Humorum and S.E. Procellarum; Basalts in Mare Serenitatis, Lacus Somniorum, Lacus Mortis and Part of Mare Tranquillitatis; Revised Thorium Abundances for Lunar Red Spots; Integrating Global-Scale Mission Datasets - Understanding the Martian Crust; Comparing Goldstone Solar System Radar Earth-based Observations of Mars with Orbital Datasets; Water Ice Clouds in the Martian Atmosphere: A View from MGS TES; Lunar Meteorite Northeast Africa 001: An Anorthositic Regolith Breccia with Mixed Highland/Mare Components; One Spectrometer, Two Spectra: Complementary Hemispherical Reflectance and Thermal Emission Spectroscopy Using a Single FTIR Instrument; Alteration Phases Associated with High Concentrations of Orthopyroxene and Olivine on Mars; Experimental Crystallization of Fe-rich Basalt: Application to Cooling Rate and Oxygen Fugacity of Nakhlite MIL-03346; Thermo-Chemical Convection in Europa s Icy Shell with Salinity; Tectonic Pressurization of Aquifers in the Formation of Mangala and Athabasca Valles on Mars; 3D Structural Interpretation of the Eagle Butte Impact Structure, Alberta, Canada; Ultraviolet Views of Enceladus, Tethys, and Dione; Crustal Plateaus as Ancient Large Impact Features: A Hypothesis; New Observations of Crustal Plateau Surface Histories, Venus: Implications for Crustal Plateau Hypotheses; Detailed Mineralogical Characterizations of Four S-Asteroids: 138 Tolosa, 306 Unitas, 346 Hermentaria, and 480 Hansa; Working with Planetary Coordinate Reference Systems; Bilingual Map of Mercury; and The Io Mountain Online Database.

Source record↗